Delta RMC151 User Manual download pdf (Page 121)

3 Controller Features

the error bit turns on, its Auto Stop setting determines what type of halt occurs.

Make sure the Following Error Auto Stop is set identically for each axis. Also make

sure the Open Loop Halt Ramp (or Closed Loop Halt Deceleration, depending on your

halt type) parameter is identical for each axis.

With these parameters set correctly, when you simultaneously issue identical motion

commands to each axis, the Target Position will be identical for each axis at all times. If

the Position Error on one axis becomes too large, the following error bit will turn on, and

all the axes will halt at the same time. Notice that the maximum allowable skew is twice

the Position Error Tolerance.

Ratioed Motion (Synchronized Unequal Travel Distances)

In this type of synchronization, the motion of the axes is synchronized such that all the

axes start and stop moving simultaneously, and at any point during the move, each axis

has completed the same percentage distance (or ratio) of its move. For example, if three

axes are at 0 inches, and are to move to 2, 4, and 6 inches, respectively, then at any

point in the move, the axes' positions will be at a 1:2:3 ratio.

Ratioed moves are useful when several actuators are moving a rigid structure around a

fulcrum. The axes do not need to start or stop at the same positions.

To achieve ratioed motion, use the Sync move commands:

• Sync Move Absolute (13)

• Sync Move Relative (14)

Gearing

In this case, the motion of one axis must move at a rate proportional to the position or

speed of another axis or reference input. See the Gearing

topic for more details.

Synchronizing RMCs

An RMC can synchronize up to 8 axes. To synchronize more axes, multiple RMCs are

needed. There are several ways to synchronize axes across RMCs.

• Synchronize all axes to a single axis

This applies to applications such as gearing multiple axes to a single feed chain. A

transducer provides the master positions, to which all the other axes are synchronized

to. A quadrature encoder signal can be daisy-chained to multiple RMC QUAD modules.

Or, the Universal I/O Module

can be used to daisy-chain SSI position data to multiple

RMCs. An analog position signal can also be connected to multiple RMCs.

• Start identical motion simultaneously

If the axes need only do identical motion, then the motion can be started

simultaneously using a discrete output to trigger each RMC.

• Via communications

If the axes need only do identical motion, and do not require very tight

synchronization, then the motion can be started simultaneously via the communication

channel. The communication channels do exhibit a certain amount of latency and

jitter.

• UI/O Inter-Module Communciation

The Universal I/O Module

can exchange data between RMC150s each loop time.

Therefore, this is suitable for tight synchronization of motion between controllers, such

as gearing. See the

Universal I/O Module for details.

3.6.2. Using Rotary Motion

This topic describes and provides examples of how to use rotary motion with the RMC series

motion controller. For a description of rotary axes, see the Axis Type: Rotary/Linear

topic.

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